From Liveness to Promptness (bibtex)
@Article{KPV09,
  author =    {O. Kupferman and N. Piterman and M.Y. Vardi},
  title =     {From Liveness to Promptness},
  journal =   {Formal Methods in System Design},
  volume = {34},
  number = {2},
  year = {2009},
  pages =  {83-103},
  pdf = {2009/KPV09.pdf},
  url = {2009/KPV09.html},  
  keywords = {Model Checking,Temporal Logic},
}
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